I has to do with scrub radius as mentioned, castor or return to center, and it makes the tires lean slightly as they turn. If you have ever seen a road grader tilt its front wheels way over to the side. It improves sideways force or traction in a turn.
Think about a way over-inflated tire if it just turned on a flat axis you would only have the tiny contact patch on the very bottom of the tire. Now if it turns and leans a bit, it uses more of the edge of the tire and more surface area to provide grip. It is also why front tires will "cup" when a person neglects to rotate the tires.